IHMC Robotics Lab

May

Mishra, Bhavyansh, Duncan Calvert, Sylvain Bertrand, Jerry Pratt, Hakki Erhan Sevil, and Robert Griffin. "Efficient Terrain Map Using Planar Regions for Footstep Planning on Humanoid Robots." In 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 8044-8050. IEEE, 2024.

May

Fasano, Stefan, James Foster, Sylvain Bertrand, Christian DeBuys, and Robert Griffin. "Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts." In 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 1143-1150. IEEE, 2024.

Jan

Penco, Luigi, Kazuhiko Momose, Stephen McCrory, Dexton Anderson, Nicholas Kitchel, Duncan Calvert, and Robert J. Griffin. "Mixed reality teleoperation assistance for direct control of humanoids." IEEE Robotics and Automation Letters (2024).

Dec

Griffin, Robert, James Foster, Stefan Fasano, Brandon Shrewsbury, and Sylvain Bertrand. "Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery." In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), pp. 1-8. IEEE, 2023.

Dec

McCrory, Stephen, Sylvain Bertrand, Achintya Mohan, Duncan Calvert, Jerry Pratt, and Robert Griffin. "Generating humanoid multi-contact through feasibility visualization." In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), pp. 1-8. IEEE, 2023.

July

Chen, Yu-Ming, Gabriel Nelson, Robert Griffin, Michael Posa, and Jerry Pratt. "Integrable whole-body orientation coordinates for legged robots." In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 10440-10447. IEEE, 2023.

Nov

Calvert, Duncan, Bhavyansh Mishra, Stephen McCrory, Sylvain Bertrand, Robert Griffin, and Jerry Pratt. "A fast, autonomous, bipedal walking behavior over rapid regions." In 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), pp. 24-31. IEEE, 2022.

March

McCrory, Stephen, Bhavyansh Mishra, Jaehoon An, Robert Griffin, Jerry Pratt, and Hakki Erhan Sevil. "Humanoid path planning over rough terrain using traversability assessment." arXiv preprint arXiv:2203.00602 (2022).

May

Robert Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry Pratt, Straight-Leg Walking Through Underconstrained Whole-Body Control, 2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018.

May

Tim Niklas Seyde, Apoorv Shrivastava, Johannes Englsberger, Jerry Pratt, Robert Griffin, Inclusion of angular momentum during planning for Capture Point based walking, 2018 IEEE International Conference on Robotics and Automation (ICRA). May 2018.

Nov

Robert Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, and Jerry Pratt, Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization 17th IEEE-RAS International Conference on Humanoid Robots (Humanoids), November 2017.

Sept

Robert Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, and Jerry Pratt, Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas, Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2017.

Sept

Matthew Johnson, Brandon Shrewsbury, Sylvain Bertrand, Duncan Calvert, Tingfan Wu, Daniel Duran, Douglas Stephen, Nathan Mertins, John Carff, William Rifenburgh, Jesper Smith, Chris Schmidt-Wetekam, Davide Faconti, Alex Graber-Tilton, Nicolas Eysette, Tobias Meier, Igor Kalkov, Travis Craig, Nick Payton, Stephen McCrory, Georg Wiedebach, Brooke Layton, Peter Neuhaus, and Jerry Pratt, Team IHMC's lessons learned from the DARPA Robotics Challenge: finding data in the rubble, Journal of Field Robotics vol 34, no. 2, 2016, pp. 241-261.

Sept

Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert Griffin, Francesco Nori, and Jerry Pratt, Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas, Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids). September 2016.

March

Koolen, Twan, Sylvain Bertrand, Gray Thomas, Tomas De Boer, Tingfan Wu, Jesper Smith, Johannes Englsberger, and Jerry Pratt. "Design of a momentum-based control framework and application to the humanoid robot atlas." International Journal of Humanoid Robotics 13, no. 01 (2016): 1650007.

Oct

Koolen, Twan, Jesper Smith, Gray Thomas, Sylvain Bertrand, John Carff, Nathan Mertins, Douglas Stephen et al. "Summary of team IHMC's virtual robotics challenge entry." In 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 307-314. IEEE, 2013.

March

Johnson, Matthew, Brandon Shrewsbury, Sylvain Bertrand, Tingfan Wu, Daniel Duran, Marshall Floyd, Peter Abeles et al. "Team IHMC's lessons learned from the DARPA robotics challenge trials." Journal of Field Robotics 32, no. 2 (2015): 192-208.

Sept

Englsberger, Johannes, Twan Koolen, Sylvain Bertrand, Jerry Pratt, Christian Ott, and Alin Albu-Schäffer. "Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion." In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4022-4029. IEEE, 2014.

Sept

Jerry Pratt, Twan Koolen, Tomas De Boer, John Rebula, Sebastien Cotton, John Carff, Matthew Johnson, and Peter Neuhaus, Capturability-Based Analysis and Control of Legged Locomotion, Part 2: Application to M2V2, a Lower-Body Humanoid, International Journal of Robotics Research, September 2012.

Sept

Twan Koolen, Tomas De Boer, John Rebula, Ambarish Goswami, and Jerry E. Pratt, Capturability-Based Analysis and Control of Legged Locomotion. Part 1: Theory and Application to Three Simple Gait Models, International Journal of Robotics Research, August 2012.

May

Sebastien Cotton, Ionut Olaru, Matthew Bellman, Tim van der Ven, Johnny Godowski, and Jerry Pratt, FastRunner: A Fast, Efficient and Robust Bipedal Robot, Concept and Planar Simulation, Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, Minnesota.